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Getting comfortable hand configurations while manipulating an object

Author
Montaño, A.; Suarez, R.
Type of activity
Presentation of work at congresses
Name of edition
19th IEEE International Conference on Emerging Technologies and Factory Automation
Date of publication
2014
Presentation's date
2014-09-17
Book of congress proceedings
ETFA 2014: 19th IEEE International Conference on Emerging Technologies and Factory Automation: September 16-19, 2014, Barcelona, Spain
First page
1
Last page
8
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/ETFA.2014.7005134 Open in new window
Repository
http://hdl.handle.net/2117/26542 Open in new window
Abstract
The paper presents an approach to manipulate unknown objects based on tactile information and force feedback. The object manipulation is performed using two fingers of the Shunck Dexterous Hand, which is equipped with tactile sensors on the fingertips. The contact point on each fingertip is modeled using a virtual articulation which adds a virtual degree of freedom to the finger. The approach uses the tactile data and hand kinematics information in order to estimate a grasp quality measure and t...
Citation
Montaño, A.; Suarez, R. Getting comfortable hand configurations while manipulating an object. A: IEEE International Conference on Emerging Technologies and Factory Automation. "Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation". Barcelona: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 1-8.
Group of research
SIR - Service and Industrial Robotics

Participants

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